Follow-up type servomotor



Sept, 14, 194s.

R. J. LINDSEY FoLLow-ur TYPE sEnvonoTon Filed Oct. '7, 1942 2 sheets-sheet 2v SML'IM ATTORNEY: 'J

Patented Sept. 14, 1948l UNITEDl sTA'rss PATENT OFFICE ma sEavoMo'roa Mount cassa, oms, mimos Development Corp., Inc., Wil- FoLLow-UP Robert J. Lindsey.

. to The Hydraulic mington, Del., a corporation of Delaware Application October 7, 1942. SerialrNo. 461,209

z claims. (ci. isi-41) This invention relates to hydraulic vmachinery end, especially, to controlNmechanism for use in connection with a reciprocable member. Although not limited to the control of servomotors for hydraulic pumDS, the invention has particular advantages when used for such purposes.

4 In this connection'it maybe mentioned that heretofore, for control element in servomotors associated with variable delivery pumps, it has been customary control element through a linkage rangement requires a rather heavy solenoid which is not only high in price but also increases the cost of production, due to the great amount of electric b power required for the operation of such a solenoid. Furthermore, while such solenoid is adapted to shift the control element in one direction only, a spring is usually provided for shifting the control element in the opposite direction when the solenoid is deenergized.

It is; therefore, an object oi this invention to provide a control mechanism for controlling a reciprocable element, in which no heavy solenoid is required for shifting the said reciprocable element, and in which the said element may be controlling the movement of the vided operable manually for controlling the supply ot fluid from said auxiliary fluid source to said servomotor means.

Still another object of the invention consists in the provision of a hydraulic press system including a fluid source oi' variable delivery. controlled by servomotor means, and an auxiliary fluid source for delivering actuating iiuid to said servomotor means, in which all reciprocable elements in said servomotor means are hydraulically actuated by fluid from said auxiliary fluid source, and in which electrically operable valve means is provided for controlling the supply of fluid from said auxiliary fluid source to said servomotor means.

These and other objects and advantages of the invention will appear more clearly from the following specication in connection with the accompanying drawings. in which:

Figure 1 is a diagrammatic illustration o! a press system including a control mechanism according to the present invention.

Figure 2 is a section through the control mechanism used in connection withV Figure 1.

Figure 3 is a diagrammatic illustration of a Y further press system including a second embodimoved in opposite directions by one and the same member.

It is another object to provide a control mechanism -for controlling a reciprocable member which comprises an element movable by pressure fluid and movably connected Awith said reciprocable member, while another element is adapted hydraulically to be reciprocated for controlling the ilowof actuating fluid to said first mentioned element.

A still further object of the invention consistsl in the provision of a control mechanism as set forth in the preceding paragraph, which includes additional hydraulically operable means for moving the hydraulically reciprocable element into a position between' its center its end positions.

It is still another object to` provide a control mechanism for a hydraulically reciprocable member, which includes a valve element movable to control the supply of actuating fluid to said hydraulically reciprocable member, and also inposition and one of ment of the control mechanism according to the present invention. 4

Figure 4 is a partial section through the control mechanism used kin connection with the press system of Figure 3.

Referring nowto the drawings and to Figures 1 and 2 thereof .in particular, the press system shown in Figure 1 comprises a press cylinder l having reciprocably mounted therein a press ram 2 carrying a press platen 3.

The lower portion of the press cylinder I is connected with a. conduit 4 leading to a conduit 5, one end of which leads toa surge valve 6, while the other end is connected to a main cylinder relief and pump by-pass valve l. The valve 6 and l do not form a part of the present invention and may be of any standard design, for instance of the type disclosed in the Ernst Patents No.`2,193,- 248 and No. 2,268,205 respectively.

The surge valve 6 is adapted in response to a suction effect in theupper portion of the4 press cludes fluid operable means for controlling said valve element, while fluid connections are provided to allow one and the same fluid source to deliver actuating iiuid to said hydraulically reciprocable member and also to said fluid operable means. I

It is also an object to provide a hydraulic press system including a fluid source of variable delivery, controlled by servomotor means, and an auxiliary fluid source for delivering actuating fluid to said servomotor means, in which all reciprocable elements in said servomotor means are hydraulically actuated by fluid from said auxiliary uid source, and in which control means is procylinder I to open and to allow uid from the fluid reservoir or tank 8 to flow through the surge valve into the cylinder l to prell the same, while the ram moves downwardly by gravity.

The main cylinder relief and pump by-pass -valve 1 is provided to relieve pressure in the upper portion of the press cylinder I at the :initiation of the retraction stroke of the press ram 2, to i thereby'facilitate the initiation of the retraction -stroke of the press ram.

Connected to the conduit 5 is a conduit 9 including a check valve l0. The main cylinder relief and pump by-pass valve 1 is connected through conduits Il and i2 with the upper portion of the press cylinder I. Also connected `with 3 the upper portion of the cylinder I is a conduit I3 leading to one side of a variable delivery pump I4, the other side of which communicates through .a conduit I5 with the lower part of the press cylstruction shown in the U. S. Patent No. 2,184,665 to Ernst.

Also connected with the pump I4 is a servomotor, generally designated I1, which comprises a cylinder I8 with a bore I9 and a larger bore 20.

Provided at the right hand end of the bore I9 is an annular channel 2l which communicates through a passageway 22 with a conduit 23. The conduit 23 leads to a-conduit 24, one end of which communicates with the i'luid tank .8, while the other end is connected to the suction side of a constant delivery pilot pump 25. The pressure side of-the pump 25 is connected to a conduit 26, which latter leads to a. control valve, generally `designated 21, and is adapted to communicate with the conduit 23 through a conduit 28 and a pressure relief valve 29.

Branching ofi from the conduit 26 is a conduit 36 which communicates througha-passageway 3l with an annular groove 32 in the servomotor bore 20. Reciprocably mounted in the bore 26 is a piston 33 which is integral with a. piston 34 reciprocably mounted in the servomotor bore I9. The piston 34 has connected thereto a shaft which in its turn is connected to the flow con--4 trol member of the pump I4. The pistons 33 and 34 are provided with a bore 36 in which is presstted a sleeve 31. The sleeve 31 is provided with a radial bore 36 communicating with an annular channel or groove 39 which in its turn communicates through a longitudinal channel 40 with the left side of the piston 33. The sleeve 31 is furthermore provided witha radial bore 4I adapted to communicate through a passageway 42, the Y bore 20 and the annular groove 32 with the conduit 30.

Reciprocably mounted in the sleeve 31 is a valve rod 43 which is connected by means of a,

pistonrod 44 with the double-acting piston 45. The piston 45 is reciprocably mounted in a, bore 46 of a cylinder 41 connected. in any convenient manner, with the cylinder I8. To prevent leakage, a. gasket 48 is interposed betweenthe cylinders I8 and 41 and, furthermore, packing material 49 is provided around the piston rod 44 and compressed by a gland 58,

The right hand end of the bore 46 is connected through a. passageway 5I with a conduit 52 which latter is in fluid communication with the conduit 36. The left hand end of the cylinder 41` communicates through a passageway 53 with a conduit 54 which latter leads to the valve 21. The valve 21 comprises a casing 55 having reciprocablymounted therein a valve member 56 which is continuously urged into its lower position by a spring |03. The valve member 56, when in its lower position, establishes iiuid connection between the conduit 54 and the conduit 51 communicating with a conduit 58, while conduit 64 is adapted to communicate with the conduit 26 when the valve member 56occupies its upper most position.

The upper end of the valve member l|56 is plvotally connectedwith a manually operable lever which in its turn ispivotally connected with a link 66. The link 66 is plvotally connected to 5 an arm/6I connected to the cylinder 55 of the valve 21. The lever 69 is provided with a stepped portion 62 adapted to be latched to a latch member 63, which is adapted to swing about a pivot 64. vOne end of the latch member 63 is provided withv a handle 65 for manual operation of the latch member, while the other end of the latch member is plvotally connected with a rod 66 having a piston portion 61 reciprocably mounted in y a cylinder 68.

Interposed between the right hand end of the cylinder 68 and the piston portion 61 is a spring 69, which continuously urges the piston portion 61 into its left hand position. The thrust of the spring 69 is adjustable by a screw 10. The left hand end of the cylinder 68 is connected by a conduit 1I with the conduit I3, while the right hand end of the cylinder 66 is connected through a conduit 12 with the conduit 23.l f

The press platen 3 is provided with an arm 13 which in its turn is adapted to engage a c'ollar 14 adjustably mounted on a control rod 15. Also adjustably `mounted on the rod 15 is a rod 16 adapted to cooperate with a bellcrank lever 11 adapted to swing about the pivot 18 and plvotally connected through a link system 19 with a push rod 80. The push rod 86 extends into the bore 46 of the cylinder 41 through a closure member 8 I, connected with the latter in any convenient manner. To prevent leakage, a gasket 82 is interposed between the cylinder 41 and the closure member 8i, and packing material 83 compressed by a gland 84 is interposed between the closure member 8l and the push rod 80.

Operation of first embodiment It may be assumed that all parts 'of the press system occupy the position shown in Figures 1 and 2, andl that it is' now desired to perform a working cycle of the ram 2. To this end, the

operator start'sthe driving motors. not shown, for the pumps I4 and 25 and swings the lever 59 in clockwise direction so as to cause the portion 62 to be latched by the latch member 63. In this way, the valve member 56 has been moved into its uppermost position, in which fluid connection is established between the conduit 26 and the conduit 54. As a result thereof, pressure vfluid from the pilot pump 25 ows through conduit` 26 and conduit 64 into the cylinder bore 46 where it acts on the left side of the piston 45. Simultaneously, fluid pressure is conveyed through conduits 26 and 30 to the right side of the piston 33 and through the conduit` 52 to the right side ofthe piston 45. The uid pressure actingon the right side of the piston 33 has no effect at this time, since the fluid between the .left side of the piston 33 andthe adjacent portion of the cylinder 41, gland 50 and piston rod 44 cannot escape. The iiuid pressure acting on the left and larger area of the piston 45 overcomes the fluid pressure acting on the smaller and right hand area' of the piston 45, thereby moving the piston 45 and, consequently, also the valve rod 43 toward the righty until the piston 45 70 abuts the right hand end of the bore 46. As ra result thereof, the radial bore 4I is released by the piston rod 43 so that pressure fluid now ows from the right hand side of the piston 33 through the passageway 42, the radial bore 4I and the bore 85 toward the left side of the piston 33.`

Since the area on the 35 moves toward the right. This places the ow control member of the forward stroke delivery.

y Pressure iluid'from the pumpI I4 is now deliv- I ered through conduit I3 into the upper portion of the cylinder I, while iluid is withdrawn from the lower portion of the cylinder I through conduit I5. Therefore, the press ram 2 moves downwardly by gravity as fast as iluid is withdrawn from the lower portion of the cylinder I. Due

to the suction eiect created in the upper portion of the cylinder I, the surge valve 6 opens and the fluid delivered by the pump I4 through the conduit I3 `into the upper portion of the cylinder I is supplemented by iiuid owing from the tank 8 through the surge valve 6.

While the platen 3 is thus moving downwardly, the control rod follows this downward movement, due to the fact that the lever 11 is, at this left side of the piston 33 is larger than the effective right hand'area of this piston, the piston 33 and, therefore, also the shaft pump I4 into position for 8, so that the pressure in conduit 5 may open` the surge valve 6.

n the upper portion of the cylinder I is, in part,

time, urged in clockwise direction by the action of the pressure ffuid on the pushrod 80. When the platen 3, or a, die connected thereto, engages -predetermined pressure has built up in the upper portion of the press cylinder I, this pressure is conveyed through the conduit 1I into the left hand portion of' the cylinder 68 where it acts upon the piston 61 soas to move the latter against the thrust of the spring 69 toward the right. This results in an anticlockwise movement of the latch member 63 so that the stepped portion62 is released by the latch member 63 and the spring ID3 moves the valve member 56 into its lowermost position, shown in the drawing. While pressurel still prevails in the conduits 30 and 52 the conduit 54 is now connected through conduit 51 and the conduit 23 with the conduit 24, which latter, as mentioned above, is connected on one hand to the suction side of the pump and on the other hand to the tank 8. Therefore, no pressure now prevails in the left hand portion of the bore '46 yso that the pressure fluid conveyed from the pump 25 through conduit -52 and passageway 5I to the right side ofthe pist-on 45 moves the latter toward the left. As a result thereofthe valve rod 43 closes the radial' bore 4I, if the latter should not have been closed previously by the follow-up movement of the piston 33, `and releases the radial bore 38 so that fluid connection is now establishedbetween the left side of the piston 33 and the conduit 24 through the passageway 49, annular channel 39, the bore 95, the radial passageway 86, 4the passageway 22 and the conduit 23.

The pressure uid conveyed from the pump 25 through the conduit 30 to the right side of the piston 33 moves the latter toward the left so that the shaft 35, rigidly connected to the ow control member of the pump I4, moves this ow control member into retraction stroke position. Pressure fluid delivered by the pump I4 now flows through the -conduit I5 to the lower portion of the press cylinder I from where it is conveyed through conduit 4 to the main cylinder relief and pump by-pass 1 so as to cause the latter. to release pressure from the upper portion of the press cylinder I through conduit II into the tank The pressure conveyed to the lower portion of the press cylinder I then causes upward movement of the ram 2, while the fluid expelled from withdrawn through the conduit 13 to the pump I4 and, in part, expelled through surge valve B into the tank 8.

When the platen 3 approaches its retracted position, the platen arm 13. through the control rod 15 and link system 19, moves the push rod 89 inwardly so that the latter shifts the piston 45 toward theright, in a manner similar lto that `described above. This results in the establishment of uid connection between the conduit 30 and the left side of the piston 33 so that the latter also moves rightwardly until the radial bore 4I is again closed by the valve member 43. When this happens. the now control member of the pump I4 has been moved through the shaft 35 connected to the piston 33 into its neutral or no delivery position, and the press ram 2 comes to a halt. All parts nowagain occupy the position shown in Figures 1 and 2, and the press is ready for a new cycle. y

As will be seen from the above, the control mechanism according to the present invention, has completely eliminated any electric means for shifting the valve rod 43, and this shifting movement in either direction is effected purely hydraulically. n i 1t will also be appreciated that the spring |03,

l. which heretofore was customarily provided between the right hand end of the bore 85 and the right hand end of the valve member 43, has been discarded.

To initiate a retraction stroke -of` the ram 2 before a predetermined pressure, corresponding to the setting of the spring 69, is established in the upper portion of the press cylinder I, it is merely necessary to manually shift the latch member 63 in clockwise direction to thereby release the lever 59 and allow the downward movement of the valve member 56 by means of the spring |03. No great force is required to shift the valve member 5E, since both ends of the bore in which the valve member 56-is reciprocated, are continuously connected with the conduit 24. If, however, for the sake of convenience, it is desired to effect the shifting movement of the valve member 56 in upward direction electrically, it is merely'necessary to 'connect the upper portion of the valve member 56 with the armature of a small solenoid 81, as4 indicated in dot-dash lines in Figure 1. The solenoid 81 may then be energized in any convenient manner at the initiation 'of a working cycle of the press. i

To eiect deenergization of the solenoid 81, the conduit I3 may be connected to a tonnage control valve, indicated in dot-dash lines and designated 88, through conduit 89, likewise indicated i lneotetl with a normally closed switch 92, 'indicated in dot-dash lines, which is opened by the platen arm portion 93 when theram 2 reaches the de'- sired position for reversing the same.

the lastV mentioned structure has a mechanism.

adapted toA temporarily slow down the downward movement of the press ram when the latter approaches the position at which it normally encounters resistance exerted by the Work piece to be shaped. v

More specifically, the `cylinder 41a is provided with an extension 94 having a bore 95 in which is reciprocably mounted a piston 9B. The piston 96 has a hub portion 91 adapted t-o engage an annular area 98 formed by the piston rod 55a and the portion 9s interconnecting the piston rod 44a and the piston 45a. The left hand side of the bore 95 is connected through a passageway |00 and a conduit |0| with a valve, generally designated |02, which in its structure corresponds to the valve 2l of Figure 1.

The condut |0| communicates through conduit 51a with`the upper portion of the valve 21a. The valve 21a is furthermore connected through conduit 58a with the conduit 51a. Also communicating with the valve 21a is the conduit 26a leading to the pressure side of the pilot pump 25a, the suction side 24a of which leadsto the tank 8a. Connected with the conduit 24a is the conduit 23a leading to the lower portionof the valve |02.

The valve member |04 of the valve |02 is continuously urged downwardly by a spring |05 in the same manner as the spring |03 of .Figure 1 urges the valve member 56 downwardly. The upper portion of the valve member |04 is connected to an armature |06, controlled by a solenoid |01 which is connected through lines |08 and |09 with a switch, generally designated |I0, and adapted to be closed by aV cam carried by the press platen 3a. When the switch ||0 is closed, the solenoid |01 is energized so as to close the valve member |04, causing the latter to move to its uppermost position. 'Ihe valve |02 is furthermore connected through a conduit |I2 with the conduit 52a, one end of which leads to the con- -duit 26a, while the other end is connected to the passageway 5|a.

A fourth conduit ||3 is adapted to effect fluid connection between the valve |02 and a passageway ||4 provided in a cylindrical portion H5 interposed between thevextension 94 and the cylinder l'la. The-passageway, ||4 communicates with the right hand end of the bore 95. The cylindrical portion I5 surrounds `a portion of the piston rod 44a and is threadedly engaged by a gland ||6 compressing packing, material surrounding .the piston rod 44a.

Operation of'second embodiment It may be assumed that all parts of the press system occupy the position shown in Figures 3 and 4, and that the valve members 56a and |04 are in their lowermost position. To start a working vcycle of the press ram 2a, the operator starts the driving motors, not shown, for the pumps |4a and'2-5a. Furthermore, the operator energizes the solenoid 81a, to thereby shift the valve meml Simultaneously, pressure fluid is conveyed from the pump 25a through the conduit 28a and conduit 54a into the left hand end of the bore 45a where it acts upon the left hand area ofthe piston 45a. Since this area is larger than the effective area acted upon by the pressure fluid at the right hand end of the bore 46a, the piston 45a and thereby the piston rod 44a move toward the right in the same manner as described above in connection with Figure l. As-set forth in detail in the description of the operation of the first embodiment, this results in placing the pump |,4a into forward stroke delivery position. Consequently, pressure fluid from the pump |4a is n-ow conveyed through the conduit |3a into the upper portion of the press cylinder la, while fluid is withdrawn from the lower portion 'of the press cylinder la through the conduit |5a. The ram 2a,- therefore, moves downwardly by gravity as fast as fluid is withdrawn from the lower portion of the press cylinder l;

When the ram 2a approaches the position at which normally the work piece is engaged by the platen 3a, or a die connected thereto, the cam will engage the roller |I8 of the switch i |0, closing the latter and holding the same closed as long as the platen 3a, during its downward movement, causes engagement of the cam with the roller 8. Closure of the switch ||0 causes energization of the solenoid |01 so that the valve member |04 is moved into its uppermost position. i

As a result thereof, uid connection is` established between the conduits ||2 and ||3 so that .pressure fluid supplied by the pump 25a is delivered through conduits 25a, 52a, ||2 and ||3 and the passageway |`|4 to the right side of the auxiliary or slow-down piston 96. Since the left side area of the piston 96 is connected through the passageway |00, conduit |0| and the conduits 23a and 24a with the tank 8a, no pressure prevails on the left side of the piston 96a.'

Therefore, the pressure acting on the right side of the piston 96 causes the latter to move leftwardly.

Since the total of the effective area on the right side of the piston and the right side area of the piston 45a is larger than the effective area on' the left side of the piston 45a, the piston 45a is movedV toward the left until the piston liliV When the platen 3a has moved downwardly' to such an extent that the cam disengages the roller 8, the switch ||0 again opens. This interrupts the energizing circuit for the solenoid |01 so that the spring |05 again moves the valve member |04 to its lowermost position and reestablishes the condition which prevailed before the cam closed the switch ||0. Therefore, the pressure fluid conveyed from the pump 25a tothe leftside of the bore Miaagain moves the piston 45a toward i'ts extreme right hand position, thereby again placing the pump Ma on full tion.

c 4 9 stroke delivery position. The press ram 2a now completes its working stroke in a manner similar to that described in connection with Figure 1.

The fluid expelled by the piston 99 while it is moved toward the right by the rightward movement or the piston 45a escapes, in part, through the conduit H3 into the conduit 24a and, in part,

is conveyed through the conduit tothe left` hand side oi' the bore 95. l When, at the end of the pressing stroke, a predetermined pressure has built up in the upper portion or the press cylinder I a, this pressure is conveyed to the tonnage control valve 89a so as `to cause the latter to break the energizing circuit for the solenoid 91a. As a result thereof, the

spring i03a shifts the valve 66a into its lowermost position so that, in a, manner similar to that described in connection with Figure 1, the right hand side oi the bore 49a is connected with the conduit 24a, while the pressure acting on the right side of the piston 45a moves the latter tcward the left. The pump Ila is then reversed so that pressure iiuid delivered by the pump Ma through conduit lia causes upward movement of the ram 2a. When, duringthis upward movetion of the retraction stroke of the ram is re stored.

When the press platen 3a approaches the end of its retraction stroke, the platen arm 13a, through the rod 15a, link system 19a and push rod 90a, moves the piston 45a, and, thereby, the pump 14a into the neutral or no'delivery posi- The press ram 2a then comes to a halt and all parts again occupy the position shown in Figure 3. The press is then ready for a new cycle.

If, instead of initiating the retraction stroke by a predetermined pressure in the upper portion ot the press cylinder la, it is desired to bring about the retraction stroke in response to a predetermined position Vreached by the platen 3a, the switch 92a may be provided and so adjusted that, at the desired point of reversal, it will be opened by the cam 93a in the same manner as previously described in connection with Figure l.

It is, of course, understood that, if desired, the solenoid 31a and tonnage control valve 88a may be replaced by a manually operable mecha.-

nism, similarto the mechanism shown in Figure 1 and comprising the elements 59, 63 and 6B.-

It will be understood that I desire to comprehend within my invention such modiilcations as come within the scope of the claims.

Having thus fully described my invention, what I claim as new and desire to secure by Letters Patent is:

' with said first piston for controlling the ilow of fluid to and from said first cylinder, a second differential piston integral with said valve, a second cylinder within which said second piston il reciprocabie, said second cylinder beingcoaxial with said first cylinder and attached thereto, a rod member formbutting and actuating said second piston in one direction irrespective of iluid pressures acting thereon, an auxiliary piston slid# able on said second piston for engaging and moving the same a predetermined distance in the other direction and having` a greater effective area than said second piston, and valve means selectively operable for supplying actuating iiuid to said pistons for'moving said tlrst piston into full stroke position at both ends of its travel and into short strokevposition in one direction, and means for actuating said rod member from outside said cylinders to' move saionrst piston into a v neutral position in the said one direction.

2. A hydraulic servomotor comprising a first uid operable double acting piston, a valve means .spective of uid pressure acting on said piston, a

third iluid operable piston adapted to move said second piston from the other of said lend-positions to a point substantially less than midway between said end positions and having a greater effective area than said second piston, valve means selectively operable for supplying actuating uid to` said pistons for actuatingsaid' rod member for actuating said iirst piston into either of its end positions or into a short stroke position in one direction, and means for actuating said rod for moving said rst `piston into a neutral position from the said one end position.

ROBERT J. LINDSEY. i'

REFERENCES CITED The following references are of record in the lle of this patent:

UNITED STATES PATENTS Number 4 Name Date 715,961 Bouvier Dec. 16, 1902 1,732,813 Kasley Oct. 22, 1929 1,821,502 Ellis Sept. 1, 1931 l1,834,922 Abercrombie Dec. 8, 1931 1,923,923 Ellis Aug. 22, 1933 1,952,663 Ernst Mar.` 2'7, 1934 2,038,272 Ernst Apr. 21, 1936 2,139,965 Ljungstrom Dec., 13, 1938 2,142,500 Douglas Jan. 3, 1939 2,184,665 Ernst Dec.. 26, 1939 2,230,054 i Ernst Jan. 28, 1941 2,230,055 Ernsty -Jan. 28, 1941 2,234,009 Robinson Mar. 4, 1941 2,238,061 Kendrick Apr. 15, 1941 2,238,062 Kendrick Apr. 15, 1941 2,238,063 Kendrick Apr. 15, 1941 2,239,882 DavisD Apr.A 29, 1941 2,263,812 Mac n et al. Nov. 25, 1941 2,267,149 Ernst Dec. 23, 1941 2,298,359 Ernst Oct. 13, 1942 2,304,831 ,Kendrickl Dec. 15, 1942 ,2,375,204 Baker May 8, 1945 FOREIGN PA'I'EN'rs Number Country- Date 55,421 Switzerland Mar.. 1.6, 1911 84,804 Switzerland Apr. 16, 1920 

